Distance measuring method, distance measuring device and mobile robot

Abstract

The invention relates to the technical field of computers, and discloses a distance measuring method, a distance measuring device and a mobile robot. The method is applied to the distance measuring device, the distance measuring device comprises a laser, a sensor and a rotating mechanism, and the method comprises the steps that a target operation instruction is acquired and used for determining a current working mode of the distance measuring device; and acquiring control parameters corresponding to the laser, the sensor and the rotating mechanism according to the working mode, and controlling the laser, the sensor and the rotating mechanism to cooperatively work in the working mode according to the control parameters so as to obtain the distance of the target object. Through cooperative work of multiple elements, automatic parameter adjustment and real-time data acquisition, the defects of a traditional distance measurement method in the aspects of accuracy, automation, adaptability and the like are effectively overcome, and the performance and reliability of the distance measurement device are comprehensively improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a distance measurement method, a distance measurement device and a mobile robot. Background Art

[0002] As a high-precision distance measurement and environment perception technology, LiDAR is widely used in sweeping robots to realize functions such as SLAM (Simultaneous Localization and Mapping) mapping, obstacle avoidance, and edge cleaning. However, the existing mainstream technologies mostly use ITOF (Indirect Time of Flight) / DTOF (Direct Time of Flight) solid-state array radars, which expose serious multipath interference and other problems while improving 3D perception capabilities, resulting in reduced distance measurement accuracy and insufficient performance experience, limiting its widespread application in the consumer-grade sweeping robot market that pursues cost-effectiveness. Summary of the invention

[0003] One purpose of the embodiments of the present application is to provide a distance measurement method, a distance measurement device and a mobile robot to solve the technical problems of low accuracy and insufficient performance in the prior art when performing distance measurement.

[0004] In order to solve the above technical problems, a technical solution adopted in the embodiment of the present application is: providing a distance measurement method, applied to a distance measurement device, the distance measurement device including a laser, a sensor and a rotating mechanism, the method including: obtaining a target operation instruction, the target operation instruction is used to determine the current working mode of the distance measurement device; according to the working mode, obtaining control parameters corresponding to the laser, the sensor and the rotating mechanism, and controlling the laser, the sensor and the rotating mechanism to work together in the working mode according to the control parameters to obtain the distance of the target object.

[0005] Among them, the method can obtain the distance of the target object more accurately through the collaborative work of the laser, sensor and rotating mechanism, thereby effectively reducing the ranging error caused by multipath interference and improving the accuracy and reliability of ranging. Through the automated working mode selection mechanism, the control parameters are dynamically adjusted according to the current working mode, reducing the need for complex calibration of the sensor, thereby reducing the difficulty and time cost of calibration, and improving the efficiency and accuracy of ranging. In addition, the dynamic adjustment of the control parameters enables the method to adapt to the ranging needs in different environments, significantly improving the applicability and flexibility of the ranging device. Due to the collaborative work of the laser, sensor and rotating mechanism, the method can obtain the distance information of the target object in real time, thereby meeting the needs of ranging scenarios with high real-time requirements. The collaborative working method can also reduce the deviation caused by the error of a single component, further improving the accuracy and reliability of ranging. Therefore, the ranging method effectively solves the shortcomings of the traditional ranging method in terms of accuracy, automation and adaptability through the collaborative work of multiple components, automated parameter adjustment and real-time data acquisition, and comprehensively improves the performance and reliability of the ranging device.

[0006] Optionally, the obtaining of the target operation instruction includes: obtaining the environmental feature information corresponding to the distance measuring device through the sensor, and generating the target operation instruction according to the environmental feature information; or receiving the instruction sent by the host computer to determine the target operation instruction. The automatic environment perception and remote instruction support are combined when obtaining the target operation instruction, which enhances the applicability, flexibility and accuracy of the distance measuring device and improves the overall performance.

[0007] Optionally, according to the working mode, the control parameters corresponding to the laser, the sensor and the rotating mechanism are obtained, and according to the control parameters, the laser, the sensor and the rotating mechanism are controlled to work together in the working mode to obtain the distance of the target object, including: determining the lighting sequence of the laser and the scanning mode of the rotating mechanism according to the working mode; generating a target signal according to the lighting sequence of the laser and the scanning mode of the rotating mechanism; according to the target signal, controlling the laser to emit the laser signal according to the set timing, adjusting the emission direction of the laser signal through the rotating mechanism, receiving the reflected laser signal through the sensor, and extracting the characteristic information of the reflected laser signal; according to the characteristic information of the reflected laser signal, obtaining the distance of the target object. Among them, by obtaining the control parameters according to the working mode and coordinating the control of the laser, the sensor and the rotating mechanism, it is possible to ensure that each part of the equipment cooperates efficiently at work and improve the accuracy and efficiency of measurement.

[0008] Optionally, obtaining the distance of the target object according to the characteristic information of the reflected laser signal includes: extracting spot information according to the characteristic information of the reflected laser signal, and obtaining the distance of the target object according to the spot information; or extracting time characteristic information according to the characteristic information of the reflected laser signal, calculating the round-trip propagation time of the laser signal according to the time characteristic information, and obtaining the distance of the target object according to the round-trip propagation time and the speed of light. Among them, this solution can flexibly select the two methods of spot information and time characteristic information to obtain the distance of the target object, thereby improving the efficiency and applicability of the ranging system.

[0009] Optionally, a plurality of lasers are included, and the angles between the optical axes of the lasers and the vertical plane are different; the determining the lighting sequence of the lasers and the scanning mode of the rotating mechanism according to the working mode includes: according to the working mode, determining the categories of lasers and the corresponding number of lasers matching the working mode from the plurality of lasers; wherein the categories of the lasers include the first type of lasers, the second type of lasers and the third type of lasers, the first type of lasers are used to detect obstacles greater than a preset height and obtain the height of the obstacles, the second type of lasers are used to emit horizontal lasers, and the third type of lasers are used to detect obstacles less than a preset height; based on the determined lasers and the working mode, the lighting sequence of the lasers and the scanning mode of the rotating mechanism are determined. wherein, by configuring the different optical axis angles of the plurality of lasers, different height areas from the ground to the sky are covered, and all-round detection of obstacles is achieved; and by the combined design and dynamic control of multiple types of lasers, not only the comprehensive coverage of the height area is achieved, but also the resource allocation and measurement accuracy are optimized.

[0010] Optionally, when the working mode is a normal working mode, the determined lasers include a first number of first-class lasers, a second number of second-class lasers, and a third number of third-class lasers, and the determining of the lighting sequence of the lasers and the scanning mode of the rotating mechanism based on the determined lasers and the working mode includes: activating the first number of the first-class lasers, the second number of the second-class lasers, and the third number of the third-class lasers; setting the lighting sequence corresponding to the first number of the first-class lasers, the second number of the second-class lasers, and the third number of the third-class lasers; and setting the scanning mode of the rotating mechanism so that the laser signals emitted by the first number of the first-class lasers, the second number of the second-class lasers, and the third number of the third-class lasers cover a preset scanning range. Wherein, through the division of labor and cooperation of the first-class lasers, the second-class lasers, and the third-class lasers, obstacles at high places, low places, and horizontal directions can be detected respectively, and comprehensive perception of obstacles at different heights and orientations in the environment can be achieved, significantly improving the coverage and detection capability of obstacle avoidance.

[0011] Optionally, when the number of the sensors is multiple or the image plane corresponding to the sensor is larger than a first preset threshold, the laser lighting timing is determined based on the determined laser and the working mode, including: obtaining the laser activation strategy according to the number of the sensors and / or the image plane size corresponding to the sensor; wherein the activation strategy includes a strategy of parallel activation of the laser when the number of sensors is multiple, and a strategy of time-sharing activation of the laser when the image plane of the sensor is larger than the first preset threshold; and setting the determined laser lighting timing respectively according to the laser activation strategy. wherein, dynamically selecting the activation strategy according to the number of sensors or the size of the image plane corresponding to the sensor can adapt to different hardware configuration requirements, and both single-sensor and multi-sensor systems can work efficiently, thereby improving the compatibility and flexibility of the system.

[0012] Optionally, the laser lighting sequence is determined based on the determined laser and the working mode, including: obtaining the laser activation strategy according to the number of sensors and / or the number of independently switchable photosensitive areas of the sensor; wherein the activation strategy includes a strategy of parallel laser activation or a strategy of time-sharing laser activation when there are multiple sensors or the sensor includes multiple independently switchable photosensitive areas, and a strategy of time-sharing laser activation when there is only one sensor and the photosensitive area of ​​the sensor is less than a second preset threshold; and the determined laser lighting sequence is set respectively according to the laser activation strategy. wherein, by dynamically adjusting the laser lighting sequence and activation strategy, the laser is flexibly adapted according to the number of sensors, thereby improving the system resource utilization and acquisition efficiency.

[0013] Optionally, the activation strategy of the laser is used to set the lighting sequence of the determined lasers, including: when the strategy of parallel activation of the laser is adopted, the lighting frequency of the determined lasers is set to match the processing capacity of the sensor to process multiple signals at the same time; and the determined lasers are set to start and enter the working state, and the lighting sequence is in parallel mode; when the strategy of time-sharing activation of the laser is adopted, the lighting frequency of the determined lasers is set to match the point cloud data acquisition efficiency; and the determined lasers are sequentially lit according to the preset priority and time interval so that the working time periods of each laser do not overlap. Among them, by distinguishing between parallel activation and time-sharing activation strategies, and adjusting the lighting frequency and lighting sequence of the laser according to the sensor processing capacity and point cloud data acquisition requirements, the efficiency, accuracy, flexibility and adaptability of the ranging device are improved.

[0014] Optionally, when the working mode is a mapping mode, the determined lasers include a fourth number of second-class lasers and a fifth number of third-class lasers, and the laser lighting sequence and the scanning mode of the rotating mechanism are determined based on the determined lasers and the working mode, including: activating a fourth number of the second-class lasers and a fifth number of the third-class lasers; setting the lighting frequency of the fourth number of the second-class lasers and the fifth number of the third-class lasers according to the requirements of the mapping mode for point cloud density, and setting the lighting sequence of the fourth number of the second-class lasers and the fifth number of the third-class lasers in combination with the processing capability of the sensor; and setting the scanning mode of the rotating mechanism to meet the requirements of the mapping process for angular resolution and point cloud coverage. Among them, by activating a certain number of second-class lasers and third-class lasers, and dynamically adjusting the working parameters of the lasers and the rotating mechanism according to the mapping requirements, the mapping accuracy, efficiency and reliability are improved.

[0015] Optionally, the method further includes: during the mapping process, based on the current environmental characteristics, adjusting the lighting frequency and lighting timing of the laser in real time, and adjusting the scanning mode of the rotating mechanism, so that the adjusted control parameters adapt to the current environmental characteristics. By adjusting the control parameters of the laser and the rotating mechanism in real time, the current environmental characteristics are fully adapted, thereby improving the accuracy and efficiency of mapping.

[0016] Optionally, when the working mode is the repositioning mode, the determined lasers include a sixth number of second-class lasers, and the laser lighting sequence and the scanning mode of the rotating mechanism are determined based on the determined lasers and the working mode, including: activating the sixth number of the second-class lasers; setting the lighting frequency and lighting sequence of the sixth number of the second-class lasers; setting the rotation speed of the rotating mechanism within a preset speed range, and setting the scanning angle of the rotating mechanism so that the laser signals emitted by the sixth number of the second-class lasers cover a preset scanning range. Among them, by activating the second-class lasers in the repositioning mode and reasonably adjusting their lighting sequence and the scanning mode of the rotating mechanism, efficient and accurate repositioning is achieved.

[0017] Optionally, the scanning mode of the rotating mechanism includes a 360-degree scanning mode and a 180-degree scanning mode, and the method further includes: when the scanning mode corresponding to the rotating mechanism is the 360-degree scanning mode, the rotation speed of the rotating mechanism is a first preset rotation speed, and when a plurality of the lasers adopt the strategy of activating the lasers in a time-sharing manner, they are allocated according to a first preset ratio; when the scanning mode corresponding to the rotating mechanism is the 180-degree scanning mode, the rotation speed of the rotating mechanism is a second preset rotation speed, and when a plurality of the lasers adopt the strategy of activating the lasers in a time-sharing manner, they are allocated according to a second preset ratio. Among them, by adjusting the scanning mode, rotation speed and laser time-sharing activation strategy, it is possible to flexibly adapt to the needs of different task scenarios, achieve efficient and accurate data collection, optimize resource utilization, and enhance the stability and adaptability of the system.

[0018] Optionally, the activation strategy of the laser is obtained according to the number of the sensors and / or the size of the image plane corresponding to the sensors; wherein the activation strategy includes a strategy of parallel activation of the laser when the number of sensors is multiple, and a strategy of time-sharing activation of the laser when the image plane of the sensor is larger than a first preset threshold, including: when the sensor includes a first sensor and a second sensor, the first sensor switches to a first exposure area for collecting a laser reflection signal corresponding to a laser signal emitted by a first type of laser, and at the same time, the second sensor switches to a third exposure area for collecting a laser reflection signal corresponding to a laser signal emitted by a third type of laser; the first sensor also switches to a second exposure area for collecting a laser reflection signal corresponding to a laser signal emitted by a second type of laser, and at the same time, the second sensor switches to a third exposure area for collecting a laser reflection signal corresponding to a laser signal emitted by a third type of laser; wherein the first type of laser and the second type of laser alternately emit laser signals in a time-sharing manner, and the third type of laser simultaneously emits laser signals in a parallel manner with the first type of laser or the second type of laser; when the sensor includes a first sensor and a second sensor, the first sensor switches to the first exposure area for collecting A laser reflection signal corresponding to a laser signal emitted by a first type of laser, or the first sensor switches to the second exposure area to collect a laser reflection signal corresponding to a laser signal emitted by a second type of laser, wherein the first type of laser and the second type of laser alternately emit laser signals in a time-sharing manner; during the process of the first type of laser and the second type of laser alternately emitting laser signals in a time-sharing manner, the second sensor switches to the third exposure area to collect a laser reflection signal corresponding to a laser signal emitted by the third type of laser; wherein the third type of laser and the first type of laser or the second type of laser simultaneously emit laser signals in a parallel manner; when the sensor includes the first sensor and the image plane size corresponding to the first sensor is greater than a first preset threshold, the first sensor switches to the first exposure area to collect a laser reflection signal corresponding to the laser signal emitted by the first type of laser, the first sensor also switches to the first exposure area to collect a laser reflection signal corresponding to the laser signal emitted by the second type of laser, and the first sensor also switches to the third exposure area to collect a laser reflection signal corresponding to the laser signal emitted by the third type of laser; wherein the first type of laser, the second type of laser and the third type of laser alternately emit laser signals in a time-sharing manner. Among them, by dynamically acquiring the laser activation strategy according to the number of sensors and / or the size of the sensor image plane, the laser lighting timing is flexibly adjusted to achieve efficient parallel activation in multi-sensor scenarios. In single-sensor or large-image scenarios, a time-sharing activation strategy is adopted to effectively avoid signal interference, improve data acquisition efficiency and quality, and take into account the stability and adaptability of system performance.

[0019] In order to solve the above technical problems, a technical solution adopted in the embodiment of the present application is: providing a distance measuring device, including: a transceiver module, a rotating mechanism and a control module, the transceiver module includes a laser and a sensor, the rotating mechanism includes a rotating mirror, and the control module includes a control unit; the control unit includes a memory and a processor, the memory is connected to the processor, the processor is used to execute one or more computer programs stored in the memory, and when the processor executes the one or more computer programs, the control unit is used to implement the distance measuring method as described above based on the laser, the sensor and the rotating mechanism. The distance measuring device has the same beneficial effects as the distance measuring method as described above.

[0020] Optionally, the control module further includes a data processing unit, and the rotating mechanism module further includes a motor drive unit. The data processing unit is used to send the distance between the distance measuring device and the target object to a host computer; the motor drive unit is used to respond to the control instruction sent by the control unit and adjust the scanning mode of the rotating mechanism so that the rotating mechanism works in coordination under the working mode. By introducing the data processing unit and the motor drive unit, the real-time transmission of the ranging data and the dynamic adjustment of the rotating mechanism parameters are realized.

[0021] Optionally, the rotating mechanism module is arranged in front of the transceiver module and maintains a preset distance from the transceiver module, the control module is integrated into the transceiver module, the transceiver module is placed vertically or horizontally, the laser and the sensor are integrated or separated, and the receiving direction of the sensor includes vertical reception and horizontal reception. Among them, through modular layout, diversified receiving directions and flexible installation methods, not only the adaptability and performance of the device are improved, but also the design complexity and maintenance cost are reduced, providing a better solution for different application scenarios.

[0022] Optionally, the optical path corresponding to when the laser emits a laser signal is coaxial with the optical path when the sensor receives a return signal corresponding to the laser signal. The coaxial optical path design keeps the emission and reception directions completely consistent, avoiding error accumulation caused by optical path deviation, thereby improving measurement accuracy.

[0023] In order to solve the above technical problems, a technical solution adopted in the embodiment of the present application is: to provide a mobile robot, the mobile robot comprises the above-mentioned distance measuring device. The mobile robot has the same beneficial effects as the above-mentioned distance measuring device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0025] Figure 1 is a structural schematic diagram of a distance measurement system provided in an embodiment of the present application;

[0026] Figures 2 to 4 is a schematic diagram of a laser activation strategy provided in an embodiment of the present application;

[0027] Figure 5 is a structural schematic diagram of a distance measuring device provided in an embodiment of the present application;

[0028] Figure 6 is a schematic diagram of the corresponding positional structures of the transceiver module 210, the rotating mechanism 220 and the target object;

[0029] Figure 7 The present application provides a flowchart of a distance measurement method;

[0030] Figure 8 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0031] Fig. 9 It is a schematic diagram of a sensor including a plurality of independently switchable photosensitive areas provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0033] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in this application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0034] It should be noted that in the following embodiments, there is not necessarily a certain order between the following steps. A person skilled in the art can understand, based on the description of the embodiments of the present application, that in different embodiments, the following steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0035] LiDAR is widely used in robots, especially in target distance measurement. The distance of the target object can be calculated by triangulation, using the light spot emitted by the transmitter and its offset in the receiver; the distance between the object and the sensor can also be calculated by measuring the time from the emission to the return of light or sound waves through TOF (Time of Flight) ranging method. With the advancement of intelligent sweepers, LiDAR has become a key sensor, promoting the development of sweeper technology. The trend of miniaturization and integration of sweepers requires the use of more advanced LiDAR technology to achieve multi-functions such as SLAM mapping, obstacle avoidance and wall cleaning.

[0036] At present, there are three mainstream laser radar solutions: the lifting version of the SLAM mapping LDS radar, the "1+1" integration of the forward obstacle avoidance laser and the LDS radar, and the high-cost 3D ITOF / DTOF solid-state array radar. Although 3D radar has great potential in the miniaturization of sweepers and multi-sensor fusion, it faces problems such as high cost, multi-path interference, complex calibration, high power consumption and low short-range accuracy, which has led to consumers not being able to enjoy the smooth experience that 3D radar should have.

[0037] To solve these technical problems, the embodiments of the present application propose an innovative solution based on time-sharing, rotating mechanism and multi-line laser ranging, which reduces costs and improves ranging accuracy by optimizing hardware configuration and algorithms, and meets the high-efficiency and low-power operation requirements of the sweeper in complex indoor environments. The ranging solution provided by the embodiments of the present application effectively overcomes the technical limitations of the existing 3D laser radar solution and promotes the innovative development of intelligent sensors for sweepers.

[0038] See also Figure 1 The embodiment of the present application provides a distance measurement system, and the distance measurement system 10 includes a host computer 100 and a distance measurement device 200. The host computer 100 is connected in communication with the distance measurement device 200 to achieve real-time data transmission and processing. The distance measurement system 10 is used to accurately measure the distance of the target object. The measured distance can be used for obstacle avoidance, mapping, relocation, path planning, navigation, etc. of the mobile robot.

[0039] The host computer 100 is the control center of the entire distance measurement system 10, and is used to receive and process data from the distance measurement device 200. Its main functions include: data processing, analyzing the distance data sent by the distance measurement device 200, generating further decisions, such as obstacle avoidance, mapping, relocation, path planning, navigation, etc.; command issuance, that is, sending target operation instructions to the distance measurement device 200 to determine the current working mode of the distance measurement device 200; communication management can also be performed to ensure stable communication with the distance measurement device 200, including real-time update of status and data; a friendly operation interface can also be provided to allow users to input instructions and view distance measurement results, etc. The host computer 100 can be a personal computer, server, embedded system, mobile device, cloud server, industrial touch screen, etc. These host computers 100 can be connected to the distance measurement device 200, and use various communication protocols, such as WiFi, Bluetooth, Ethernet, etc., to perform data interaction and command transmission.

[0040] The distance measuring device 200 is the core part of the distance measuring system 10, which is used for the actual distance measuring operation, and includes a transceiver module 210, a rotating mechanism 220 and a control module 230. The modules are coordinated through the control module 230, and the control module 230 is connected to the host computer 100, the transceiver module 210 and the rotating mechanism 220 respectively.

[0041] The transceiver module 210 is a key component in the ranging system 10, which is responsible for the emission and reception of laser signals, ensuring that the system can efficiently and accurately perform distance measurement and environmental perception. The transceiver module 210 is composed of a laser 2101 and a sensor 2102. The laser 2101 is used to emit laser pulses to measure the distance of the target object. The emission frequency and intensity of the laser pulses can be adjusted according to the specific application requirements. The laser 2101 can provide millimeter-level ranging accuracy, is suitable for various precision measurement occasions, and also supports different working modes, such as single-point ranging and multi-point scanning, to meet different measurement requirements; lasers of different wavelengths can also be selected according to the application environment to ensure stable operation under various lighting conditions. The number of lasers 2101 can be single or multiple, and in this embodiment, it is determined according to the control signal, and each control signal corresponds to a laser. The control signal can be generated by the host computer 100 or the control module 230, and adjusted according to the current working mode, environmental conditions or task requirements. Among them, the optical path corresponding to when the laser 2101 emits a laser signal can be coaxial with the optical path when the sensor 2102 receives the return signal corresponding to the laser signal. The coaxial optical path design makes the emission and receiving directions completely consistent, avoiding the accumulation of errors caused by optical path deviation, thereby improving the measurement accuracy.

[0042] Among them, the application of laser 2101 can be divided into two modes: single laser full circle continuous scanning and multi-line laser continuous switching scanning. These two modes are adaptive to different application scenarios and needs. For single laser full circle continuous scanning, a single laser 2101 scans in sequence within a 360-degree range, and the sensor 2102 switches the exposure area during the laser scanning process. For example, the control module 230 controls the sensor 2102 to switch to a specific exposure area and activates the laser 2101 for scanning. After each scan is completed, the laser 2101 and the sensor 2102 switch to the next exposure area and cycle. Single laser full circle continuous scanning has low rotation speed requirements and can maintain stable laser output. The sensor exposure area does not need to be switched frequently, which simplifies the control logic and is easy to implement. It is suitable for application scenarios that require high frame rate and detail capture, such as sweeping robots, lawn mowers, etc.

[0043] For multi-line laser continuous switching scanning, multiple lasers 2101 work simultaneously, and the sensor 2102 switches the exposure area in turn and switches the laser 2101 as needed. This process requires fast switching of the exposure area while ensuring the angular resolution, which requires a high rotation speed of the rotating mechanism 220. Multi-line laser continuous switching scanning provides a wider field of view and fast response, which is suitable for real-time obstacle avoidance needs. Due to the collaborative work of multiple lasers 2101, more comprehensive environmental information can be obtained in a shorter time, which is suitable for scenes such as cleaning robots that require real-time obstacle avoidance.

[0044] For example, see Figure 2, is the process of applying a single laser full circle continuous scanning to a sweeping robot. The control module 230 controls sensor1 (i.e., camera 1) to switch to exposure area I, sensor2 (i.e., camera 2) to switch to exposure area III, and simultaneously controls to turn on lasers I and III; after scanning one circle, the control module 230 controls sensor1 (i.e., camera 1) to switch to exposure area II, sensor2 (i.e., camera 2) remains in exposure area III, and simultaneously controls to turn on lasers II and III; after scanning another circle, the control module 230 controls sensor1 (i.e., camera 1) to switch to exposure area I, sensor2 (i.e., camera 2) to switch to exposure area III, and simultaneously controls to turn on lasers I and III, and so on. Among them, lasers I and II emit laser signals alternately in a time-sharing manner, and laser III and laser I or laser II emit laser signals simultaneously in a parallel manner. Laser I uses a laser beam to complete the entire scanning circle, and camera 1 collects images of exposure area I; at the same time, laser III uses a laser beam to complete the entire scanning circle, and camera 2 collects images of exposure area III; that is, laser I and laser III each use a single laser beam to complete the entire scanning circle, and the corresponding exposure area of ​​the corresponding camera collects images, and the above process is repeated to form a cycle, ensuring that sufficient laser scanning is performed in each exposure area. Similarly, laser II uses a laser beam to complete the entire scanning circle, and camera 1 collects images of exposure area II; at the same time, laser III uses a laser beam to complete the entire scanning circle, and camera 2 collects images of exposure area III; that is, laser II and laser III each use a single laser beam to complete the entire scanning circle, and the corresponding exposure area of ​​the corresponding camera collects images, and the above process is repeated to form a cycle, ensuring that sufficient laser scanning is performed in each exposure area. Among them, laser I and laser II need to be time-sharing. Since laser III is independent, it can be parallel with laser I and laser II.

[0045] For example, see Figure 3, is a multi-line laser continuous switching scanning applied to the obstacle avoidance process of the mobile robot. Sensor1 switches to the I exposure area to collect the laser reflection signal corresponding to the laser signal emitted by laser I, and sensor1 switches to the II exposure area to collect the laser reflection signal corresponding to the laser signal emitted by laser II, sensor1 switches to the I exposure area to collect the laser reflection signal corresponding to the laser signal emitted by laser I, and sensor1 switches to the II exposure area to collect the laser reflection signal corresponding to the laser signal emitted by laser II, and so on. During the above cycle, sensor2 switches to the III exposure area to collect the laser reflection signal corresponding to the laser signal emitted by laser III. Among them, laser I and laser II emit laser signals alternately in a time-sharing manner, and laser III and laser I or laser II simultaneously emit laser signals in a parallel manner.

[0046] For example, see Figure 4 , when the image plane of the sensor is large enough, sensor1 (i.e. camera 1) switches to exposure area I, laser I turns on; sensor1 switches to exposure area II, laser II turns on; sensor1 switches to exposure area III, laser III turns on. sensor1 switches to exposure area I again, laser I continues to turn on; sensor1 switches to exposure area II again, laser II continues to turn on; sensor1 switches to exposure area III, laser III turns on, and so on, forming a multi-line laser continuous switching scanning process, in which the image plane of sensor1 is large enough.

[0047] In this embodiment, single laser full circle continuous scanning is suitable for scenarios with high frame rate requirements, and multi-line laser continuous switching scanning can meet applications with high real-time requirements. By selecting an appropriate laser working mode, the ranging system 10 can optimize performance in different application environments. This flexibility enables the ranging system 10 to provide effective solutions in a variety of situations.

[0048] The sensor 2102 is used to receive the laser signal reflected by the target object and convert the laser signal into a processable image signal. The sensor 2102 can be a camera, a global exposure camera or a rolling exposure camera. The global exposure camera is suitable for fast-moving scenes, and the rolling exposure camera performs better in static scenes. The sensor 2102 can process the received image data, extract feature information, and support subsequent image analysis and real-time monitoring. In addition to ranging, it can also perform various functions such as object recognition and environmental mapping. In this embodiment, the sensor 2102 is an important component of the ranging device 200, which is mainly responsible for receiving the laser reflection signal and converting it into processable image information. When the sensor 2102 is a rolling exposure camera, it can be a low-cost camera type that can achieve a high frame rate. The configuration of its parameters can be, for example: image size: 648x 488 pixels, pixel size: 3.4μm, lens focal length: 8mm.

[0049] Among them, when using a camera to receive laser spots for imaging, it is very important to consider the reception requirements of lasers at different pitch angles, because the imaging position of the laser spot is affected by the pitch angle of the laser. Different pitch angles will cause the imaging position of the spot on the camera sensor to be different. If the spot exceeds the effective image plane of the camera, the complete laser signal cannot be captured, thus affecting the ranging accuracy and blind area. In addition, in order to ensure that the system can measure target objects in all directions, it is necessary to ensure that the camera can receive laser spots emitted at different pitch angles. Multiple cameras can be reasonably configured to achieve coverage of targets in a larger range, especially in complex environments. Furthermore, in a dynamic environment, target objects may appear at different heights and angles, and the camera needs to be able to adapt to these changes to ensure that the latest laser information can be received in a timely manner. Therefore, considering the reception requirements of lasers at different pitch angles is crucial to ensure the comprehensiveness, accuracy and reliability of the ranging system. The following formula is used to determine the imaging position of the laser spot on the camera sensor, and the formula is: row = f·tan(θ) / ps. Among them, f is the focal length of the lens, θ is the pitch angle of the laser, and ps is the pixel size. This formula is used to understand the imaging position of the laser spot at different laser emission angles, so as to evaluate whether it is within the effective image plane range of the camera.

[0050] For example, for the first transmitting end, assuming a typical pitch angle θ = 5 degrees, row = 8tan(5°) / 3.4*10 -6 ≈205, the light spot can be received by sensor 1 and falls within the effective image plane of the camera. For the second transmitter, the center of the light spot falls at the center of the camera, which is within the effective image plane of the camera and meets the design requirements. For the third transmitter, assuming that its pitch angle θ=15°, row=8tan(15°) / 3.410 -6≈680, which exceeds the 488-row pixel range of the camera, so a second camera is needed to receive it.

[0051] For example, when the image plane of the camera is larger than 885 lines of pixels, theoretically one camera can meet the time-sharing ranging requirements of multi-line lasers. However, based on practical applications and cost considerations, using two rolling shutter exposure cameras can more flexibly meet the reception requirements of lasers with different pitch angles.

[0052] According to the above calculation formula, when the laser 2101 emits laser at a specific pitch angle, the imaging position of the light spot on the sensor 2102 (such as a camera) can be calculated by the above formula, so as to determine whether the exposure area corresponding to the sensor 2102 can cover the working field of the laser 2101. This can effectively guide the reasonable configuration of the sensor 2102, which not only improves the coverage and accuracy of the system, but also enhances its adaptability in a dynamic environment. It should be noted that the above light spot refers to the imaging position of the light spot on the sensor 2102 (such as a camera) when the laser 2101 emits laser at a specific pitch angle. The imaging position is affected by factors such as the pitch angle of the laser 2101, the focal length of the lens and the pixel size. The light spot information used in the distance measurement below refers to the light spot formed on the sensor 2102 by the laser signal reflected from the target object during the distance measurement process. The light spot here contains the distance information to the target object. The light spot is not only the reflected image of the light beam, but also contains the intensity and delay of the reflected signal. Information such as information is used to calculate the actual distance to the target object.

[0053] The transceiver module 210 achieves accurate distance measurement and environmental perception through the collaborative work of the laser 2101 and the sensor 2102. Its design takes into account the influence of different working modes, camera configurations and spot imaging, and provides an efficient and reliable solution for the ranging system 10.

[0054] The rotating mechanism 220 is used for controlling the direction of the laser. By precisely adjusting the emission direction of the laser, the rotating mechanism 220 enables the ranging system 10 to achieve a 360-degree ranging function. It includes a rotating mirror 2201 and a motor drive unit 2202. The rotating mirror 2201 is used to change the emission direction of the laser so that the light beam can irradiate different targets. By rotating the rotating mirror, the laser can cover a 360° viewing angle. The motor drive unit 2202 controls the scanning mode of the rotating mirror 2201 so that the laser can irradiate different target positions. The rotating mirror 2201 can be made of an optical material with high reflectivity, and it is in the form of a flat or inclined rectangle or circle. The rotating mirror 2201 can be fixed on a bracket for easy connection with the motor drive unit 2202. The motor drive unit 2202 is used to drive the rotating mirror 2201 to rotate, adjust the emission angle of the laser, and enable the laser to hit objects at different angles, thereby realizing the function of single-point laser 360-degree ranging. The motor drive unit 2202 may be a stepper motor or a servo motor, which can provide high-precision control. The motor drive unit 2202 is also equipped with a microcontroller or a digital signal processor, which is used to receive instructions from the control module 230 and perform real-time control.

[0055] The rotating mechanism 220 realizes the direction control and 360-degree ranging function of the laser through the coordinated work of the rotating mirror 2201 and the motor drive unit 2202. In other embodiments, the transceiver module 210 can be directly set on the rotating mechanism 220 (in this solution, a rotating mirror is not required), the motor drive unit 2202 drives the rotating mechanism 220 to rotate, and the rotating mechanism 220 drives the transceiver module 210 to rotate, thereby realizing the direction control and 360-degree ranging function of the laser.

[0056] The control module 230 is the core control unit of the ranging system 10, responsible for coordinating and managing the operations of the transceiver module 210 and the rotating mechanism module 220. The control module 230 is composed of a control unit 2301 and a data processing unit 2302, which work together to achieve efficient laser emission, signal acquisition and data processing.

[0057] Among them, the control unit 2301 is used to: obtain a target operation instruction, which is used to determine the current working mode of the ranging device 200; according to the working mode, obtain the control parameters corresponding to the laser 2101, the sensor 2102 and the rotating mechanism 220, and control the laser 2101, the sensor 2101 and the rotating mechanism 220 to work together in the working mode according to the control parameters to obtain the distance of the target object.

[0058] The target operation instruction may be sent by the host computer 100 , or may be generated based on the environmental characteristic information corresponding to the distance measuring device 200 obtained by the sensor 2102 .

[0059] The target operation instruction is an instruction received by the control module 230 for instructing the ranging device 200 to perform a specific task. The target operation instruction ensures the flexibility and adaptability of the ranging system 10 in different working modes, thereby meeting the needs of various application scenarios.

[0060] Among them, the host computer 100 can send instructions according to the user's input or preset program to instruct the ranging device 200 to enter a specific working mode (such as obstacle avoidance, mapping, relocation, etc.). The host computer 100 can also send target operation instructions according to the needs of a specific task, such as starting ranging, adjusting the laser emission frequency, or changing the rotation angle of the rotating mirror. When the on-site conditions change, the host computer 100 can dynamically adjust the target operation instructions to adapt to new environmental characteristics or task requirements.

[0061] Among them, the laser 2101 emits a laser signal and receives a reflected signal, and the sensor 2102 processes these signals to obtain environmental feature information, such as the location, shape and distance of the obstacle. If an obstacle is detected, the control module 230 can automatically generate a target operation instruction to adjust the working state of the laser 2101 or the rotation angle of the rotating mirror 2201 to enter the normal working mode. Target operation instructions can also be generated based on environmental feature information to guide the laser 2101 and the sensor 2102 to perform detailed scanning in a specific area to create a high-precision map, that is, to enter the mapping mode. Target operation instructions can also be generated using environmental feature information to optimize the emission timing of the laser 2101 and the exposure area of ​​the sensor 2102 to enter the repositioning mode.

[0062] According to the working mode, control parameters corresponding to the laser 2101, the sensor 2102 and the rotating mechanism 220 are obtained, and the laser 2101, the sensor 2101 and the rotating mechanism 220 are controlled to work together in the working mode according to the control parameters to obtain the distance of the target object, specifically including: determining the lighting timing of the laser 2101, the data range of the sensor 2102 and the scanning mode of the rotating mechanism 220 according to the working mode; generating a target signal according to the lighting timing of the laser 2101, the data range of the sensor 2102 and the scanning mode of the rotating mechanism 220; according to the target signal, controlling the laser 2101 to emit the laser signal according to the set timing, adjusting the emission direction of the laser signal through the rotating mechanism 220, receiving the reflected laser signal through the sensor 2102, and extracting the characteristic information of the reflected laser signal; and obtaining the distance of the target object according to the characteristic information of the reflected laser signal. Wherein, obtaining the distance of the target object according to the characteristic information of the reflected laser signal includes: extracting the spot information according to the characteristic information of the reflected laser signal, and obtaining the distance of the target object according to the spot information. According to the characteristic information of the reflected laser signal, obtaining the distance of the target object also includes: extracting the time characteristic information according to the characteristic information of the reflected laser signal, calculating the round-trip propagation time of the laser signal according to the time characteristic information, and obtaining the distance of the target object according to the round-trip propagation time and the speed of light.

[0063] The lighting timing of laser 2101, i.e., the switching time of the laser, can determine the frequency and duration of laser emission based on the trigger signal so as to synchronize during the scanning process. The data range of sensor 2102 determines the signal strength that it can effectively receive and the distance range that it can measure. If the data range is not set properly, the reflected light spot information may not be captured, thus affecting the recognition and ranging accuracy of the target object. The data range of sensor 2102 also affects the sensor 2102's ability to capture the time characteristics of the laser signal. In order to accurately calculate the round-trip propagation time of the laser signal, sensor 2102 needs to have sufficient sensitivity and dynamic range to receive the reflected signal. The scanning modes of the rotating mechanism include a 360-degree scanning mode and a 180-degree scanning mode.

[0064] In this embodiment, there are two ranging methods. One is to analyze the spot information of the reflected laser signal to determine the position and distance of the target object; the other is to use the time characteristics of the reflected signal to calculate the round-trip propagation time of the laser signal, thereby calculating the distance of the target object based on the speed of light.

[0065] There can be multiple lasers 2101, and the angles between the optical axes of the lasers 2101 and the vertical plane are different. Different angles can achieve coverage of a larger area, increase the detection range of the laser ranging system, and ensure that target objects at different heights and directions can be captured; moreover, laser emission at different angles can reduce shadow effects and blind spots, so that the sensor 2102 can receive reflected signals in all directions, thereby improving the accuracy of measurement.

[0066] The lighting sequence of the laser 2101, the data range of the sensor 2102, and the scanning mode of the rotating mechanism 220 are determined according to the working mode, including: according to the working mode, determining the type of lasers and the corresponding number of lasers matching the working mode from multiple lasers 2101; and then based on the determined lasers 2101 and working mode, determining the lighting sequence of the laser 2101, the data range of the sensor 2102, and the scanning mode of the rotating mechanism 220. The types of lasers 2101 include first-class lasers, second-class lasers, and third-class lasers. The first-class lasers are used to detect obstacles greater than a preset height and obtain the height of the obstacles. The second-class lasers are used to emit horizontal lasers. The third-class lasers are used to detect obstacles less than a preset height.

[0067] The data range of the sensor 2102 includes setting the receiving range of the sensor 2102 according to the type and working mode of the selected laser 2101. The sensor 2102 needs to be able to handle the signal strength and distance from each type of laser to ensure that the reflected signal can be effectively received at different heights and directions. For example, for the first type of laser, the data range should cover higher obstacles; while for the third type of laser, it needs to be able to capture lower reflected signals.

[0068] According to the type and lighting sequence of the laser 2101, the scanning mode of the rotating mechanism 220 can be flexibly adjusted. For example, the first type of laser may require a slower scanning speed for accurate measurement at high altitudes; the second type of laser may need to rotate quickly to cover a wider area; the third type of laser may require a specific angle setting to ensure effective detection of low objects.

[0069] There is no limit on the number of lasers corresponding to the above three types of lasers, and they can be set according to specific application scenarios.

[0070] Among them, the working modes include regular working mode, mapping mode, repositioning mode, etc. The regular working mode is a normal working mode, such as the cleaning mode of the sweeping robot. In this mode, ranging is mainly used to detect and avoid obstacles. The laser 2101 can activate different lasers according to the height information of the target object to detect obstacles. The mapping mode is used for environmental mapping and creating a high-precision environmental model. The collaborative work of the laser 2101, the sensor 2102 and the rotating mechanism 220 can obtain denser point cloud data, thereby mapping the environment. The repositioning mode is used when the position needs to be re-determined. The configuration of the laser 2101 and the sensor 2102 can quickly obtain environmental information for easy positioning.

[0071] Among them, the lighting timing refers to the switching state of the laser 2101 and the timing of emitting the laser signal, ensuring that the laser 2101 emits the laser at the appropriate time so that the sensor 2102 can accurately receive the reflected signal. In different working modes, the lighting timing may be different. For example, in the normal working mode, it may be necessary to emit quickly and continuously, while in the mapping mode, it may be emitted at a slower frequency to obtain more detailed information. The exposure area refers to the area where the sensor 2102 can capture the spot information, ensuring that the sensor 2102 can cover the entire range of the laser beam emitted by the laser 2101. In different working modes, the size and position of the exposure area can be adjusted according to the emission direction of the laser 2101 and the position of the target object. The rotation speed is the rotation angle of the rotating mechanism 220 per unit time, usually expressed in degrees / second (° / s). As the rotating mechanism 220 rotates, the laser can cover a wider area to achieve 360° ranging. The rotation angle is the angle that the rotating mechanism 220 rotates in a specific operation. Depending on the working mode, the rotation angle of the rotating mechanism 220 can be set to a fixed angle (such as 90° per scan) or dynamically adjusted to ensure that the laser covers a specific target area.

[0072] The target signal is a control signal used to synchronize and coordinate the operation of the laser 2101, the sensor 2102, and the rotating mechanism 220. The target signal is used to control the switching state and emission timing of the laser 2101, ensure that the laser 2101 emits the laser at the appropriate time, and switch the exposure area of ​​the sensor 2102 to capture the spot information in different directions, and also synchronize the rotation and motion control of the rotating mechanism 220 to ensure the correct emission direction of the laser signal.

[0073] The coordinated work of the various components in the ranging system 10 is achieved through the above-mentioned control parameters and signals. The working mode determines the specific settings of the laser 2101, the sensor 2102 and the rotating mechanism 220. The lighting timing, the exposure area and the scanning mode are the key parameters to ensure the efficient operation of the ranging system 10. The target signal is an important tool to achieve all these coordination.

[0074] The following uses a three-point laser as an example to illustrate how the above components work in coordination to achieve different working modes. Laser 2101 includes a first laser, a second laser, and a third laser. The first laser is used to detect obstacles greater than a preset height and emit an elevation laser to measure the height of the obstacle. By emitting a laser at a certain elevation angle upward, it can effectively identify objects that are higher than the fuselage, such as sofas, bed edges, etc. The elevation angle range can be 3° to 20°, and the specific angle setting will be determined according to the needs of the actual application scenario. The third laser is used to detect obstacles less than a preset height, especially low obstacles and the ground. By emitting a laser at a certain depression angle downward, it can provide close-range obstacle information. The elevation angle range can be 10° to 20°, which is suitable for detecting the ground and low obstacles to make up for the blind spots that may be caused by horizontal laser emission. The second laser is used to emit a horizontal laser, which is suitable for SLAM (simultaneous localization and mapping) mapping and obstacle avoidance.

[0075] When the working mode is the normal working mode, the first laser, the second laser and the third laser are activated; the lighting timing of the first laser, the second laser and the third laser are set; the exposure area of ​​the sensor is set so that the exposure area covers the working field of the first laser, the second laser and the third laser; the scanning mode of the rotating mechanism is set so that the laser signals emitted by the first laser, the second laser and the third laser respectively cover the preset scanning range; based on the lighting timing, the exposure area and the scanning mode, a target orthogonal signal is generated, and the target orthogonal signal is used to control the switching and lighting timing of the laser, the exposure area switching of the sensor, and the synchronous rotation and motion control of the rotating mechanism; according to the target orthogonal signal, the laser is controlled to emit the laser signal according to the set timing, the emission direction of the laser signal is adjusted by the rotating mechanism, the reflected laser signal is received by the sensor, and the spot information is extracted, and the distance of the target object is obtained according to the spot information. In the normal working mode, the above process is realized based on the principle of triangulation. The ranging system 10 generates target signals by activating multiple lasers, reasonably setting the lighting timing, exposure area and rotation parameters of the rotating mechanism, thereby realizing efficient environmental perception. Through this series of coordinated operations, the system can detect surrounding obstacles in real time to ensure safety and smooth operation. In the normal working mode, based on the TOF ranging principle, the first laser, the second laser and the third laser can be activated to emit laser signals at different angles and set their respective lighting timings to avoid interference; the exposure area of ​​the sensor ensures that the working field of all lasers is covered, and the scanning mode of the rotating mechanism makes the laser signal cover the preset range; the generated target orthogonal signal is used to coordinate the switching of the laser, the exposure switching of the sensor and the synchronous movement of the rotating mechanism; by receiving the reflected signal and measuring the round-trip time, the distance of the target object is calculated using the speed of light to realize efficient and accurate ranging.

[0076] Among them, when the number of sensors is multiple or the image plane corresponding to the sensor is larger than a first preset threshold, setting the lighting timing corresponding to the first laser, the second laser and the third laser includes: obtaining the activation strategy of the laser according to the number of sensors and / or the size of the image plane corresponding to the sensor; wherein the activation strategy includes when the number of sensors is multiple, adopting a strategy of parallel activation of the laser, and when the image plane of the sensor is larger than the first preset threshold, adopting a strategy of time-sharing activation of the laser; according to the laser activation strategy, setting the lighting timing of the first laser, the second laser and the third laser respectively.

[0077] Wherein, setting the lighting sequence of the first laser, the second laser and the third laser respectively, further includes: obtaining the activation strategy of the laser according to the number of sensors and / or the number of independently switchable photosensitive areas of the sensor; wherein the activation strategy includes adopting a parallel activation strategy of the laser or a time-sharing activation strategy of the laser when the number of sensors is multiple or the sensor includes multiple independently switchable photosensitive areas, and adopting a time-sharing activation strategy of the laser when the number of sensors is single and the photosensitive area of ​​the sensor is less than the second preset threshold; according to the activation strategy of the laser, respectively setting the lighting sequence of the first laser, the second laser and the third laser. This process can be implemented based on the TOF ranging principle.

[0078] When only one sensor is used and the sensor includes multiple light-sensitive areas that can be independently switched on and off, multiple lasers can be activated in parallel or in a time-sharing manner; the sensor turns on different light-sensitive areas through control signals to obtain corresponding distance measurement information, see Fig. 9 For example: keep the switches of photosensitive areas 2-5 closed, turn on the switch of photosensitive area 1, receive the signal reflected by the obstacle emitted by the corresponding laser, and convert the signal into distance information; keep the switches of photosensitive areas 1-3 closed, turn on the switches of photosensitive areas 4 and 5, and photosensitive areas 4 and 5 respectively receive the signal reflected by the obstacle emitted by the corresponding laser and convert it into distance information.

[0079] Among them, according to the laser activation strategy, the lighting timing of the first laser, the second laser and the third laser are set respectively, including: when the strategy of parallel laser activation is adopted, the lighting frequencies of the first laser, the second laser and the third laser are set to match the processing capacity of the sensor to simultaneously process multiple signals; and the first laser, the second laser and the third laser are set to start and enter the working state, and the lighting timing is a parallel mode; when the strategy of time-sharing laser activation is adopted, the lighting frequencies of the first laser, the second laser and the third laser are set to match the point cloud data acquisition efficiency; and the first laser, the second laser and the third laser are sequentially lit according to the preset priority and time interval so that the working time periods of each laser do not overlap with each other.

[0080] The lighting sequence of the above lasers is dynamically adjusted according to the number of sensors, and / or the size of the image plane, and / or the number of independently switchable photosensitive areas of the sensor to ensure that the system can efficiently and accurately process environmental data. Among them, the activation strategy refers to how to control the activation and working mode of the laser under different conditions to adapt to the needs of the system, including parallel activation strategy and time-sharing activation strategy. The parallel activation strategy is suitable for the situation where there are a large number of sensors or the sensor includes multiple independently switchable photosensitive areas. All lasers (first, second, and third) work at the same time and can quickly collect multiple signals. This mode requires setting a corresponding lighting frequency for each laser to match the processing capacity of the sensor to ensure that the system can process signals from multiple lasers at the same time. The time-sharing activation strategy is suitable for when the image plane of the sensor is greater than the first preset threshold or the photosensitive area of ​​the sensor is less than the second preset threshold. The lasers are lit one by one in sequence to avoid interference caused by simultaneous emission of signals. This method requires setting the lighting frequency according to the efficiency of point cloud data acquisition and ensuring that the working time periods of each laser do not overlap to improve the accuracy of the data.

[0081] When using the parallel activation strategy, set a suitable lighting frequency for each laser to ensure that the signal of each laser can be effectively received and processed by the sensor. All lasers are started at the same time to form parallel signal transmission. This strategy can obtain more environmental information in a short time.

[0082] When sampling the time-sharing activation strategy, according to the efficiency of point cloud data collection, set an appropriate lighting frequency for each laser to ensure that data can be effectively collected during its working period. The lasers are lit in sequence according to the preset priority and time interval to ensure that the sensor can independently receive and process the signals emitted by each laser during its working period. Both strategies can efficiently and accurately obtain environmental information and ensure reliability and adaptability under different conditions. This design not only improves the ranging accuracy, but also enhances the overall performance of the system.

[0083] It should be noted that when the above working mode is the normal working mode, the first laser, the second laser and the third laser are activated, and the first laser, the second laser and the third laser can be respectively a first number of first-type lasers, a second number of second-type lasers and a third number of third-type lasers. The first number, the second number and the third number can be single or multiple.

[0084] When the working mode is the mapping mode, the second laser and the third laser are activated, wherein the second laser is the second type laser and the third laser is the third type laser; according to the requirements of the mapping mode for the point cloud density, the lighting frequency of the second laser and the third laser is set, and the lighting sequence of the second laser and the third laser is set in combination with the processing capability of the sensor; the exposure area of ​​the sensor is set so that the exposure area covers the working field of the second laser and the third laser; the scanning mode of the rotating mechanism is set to meet the requirements of the angular resolution and point cloud coverage of the mapping process; based on the lighting frequency, lighting sequence, exposure area, and scanning mode, a target orthogonal signal is generated, and the target orthogonal signal is used to control the switching and lighting sequence of the laser, the exposure area switching of the sensor, and the synchronous rotation and motion control of the rotating mechanism; according to the target orthogonal signal, the laser is controlled to emit the laser signal according to the set sequence, the emission direction of the laser signal is adjusted by the rotating mechanism, the reflected laser signal is received by the sensor, and the spot information is extracted, and the distance of the target object is obtained according to the spot information. In the mapping mode, the above process is realized based on the principle of triangulation ranging. Of course, it can also be implemented based on the TOF ranging principle. For example, in the mapping mode, activate the second and third type lasers, set their lighting frequency to meet the point cloud density requirements, and adjust the lighting timing according to the processing power of the sensor. At the same time, set the exposure area of ​​the sensor to ensure that the working field of the laser is covered, and adjust the scanning mode of the rotating mechanism to meet the requirements of angular resolution and point cloud coverage during the mapping process. Based on these settings, the target orthogonal signal is generated to control the switching of the laser, the lighting timing, the exposure area switching of the sensor, and the synchronous movement of the rotating mechanism. The laser emits the laser signal according to the set timing, and calculates the distance of the target object by measuring the round-trip time of the laser signal from the emission to the target object and then reflected back to the sensor, thereby achieving efficient and accurate environmental mapping.

[0085] In the mapping mode, by activating the second and third lasers, and reasonably setting the parameters of the lighting frequency, lighting sequence, exposure area and rotation mechanism, the system can efficiently obtain environmental data. Among them, the second laser is mainly used for horizontal emission, which is suitable for environmental mapping. The third laser is used to detect low obstacles and ground information to supplement point cloud data. According to the requirements of the mapping mode for point cloud density, the lighting frequency of the second and third lasers is set to ensure that sufficient point cloud information can be obtained during the mapping process. Combined with the lighting frequency, the lighting sequence of the laser is reasonably arranged to ensure that the laser signal can effectively cover the required area during the mapping process. The exposure area of ​​the sensor covers the working field of the second and third lasers, ensuring that the received reflected signal can fully reflect the environmental information. In addition, the appropriate rotation speed can ensure fast and accurate data collection, while the appropriate angle can maximize the scanning range. The spot information is used to calculate the distance to the target object and generate the corresponding point cloud data for mapping.

[0086] During the mapping process, the laser lighting frequency and timing are adjusted in real time based on the current environmental characteristics, and the sensor exposure area and the scanning mode of the rotating mechanism are adjusted to adapt the adjusted control parameters to the current environmental characteristics. By adjusting the control parameters of the laser, sensor and rotating mechanism in real time, the current environmental characteristics can be fully adapted, thereby improving the accuracy and efficiency of mapping.

[0087] It should be noted that when the above working mode is the mapping mode, the second laser and the third laser are activated, and the second laser and the third laser can be a fourth number of second-type lasers and a fifth number of third-type lasers, respectively. The fourth number and the fifth number can be single or multiple.

[0088] When the working mode is the repositioning mode, activate the second laser; set the lighting frequency and lighting timing of the second laser; set the exposure area of ​​the sensor to the working field of the second laser; set the rotation speed of the rotating mechanism within the preset speed range, and set the scanning angle of the rotating mechanism at the same time, so that the laser signal emitted by the second laser covers the preset scanning range; based on the lighting frequency and lighting timing, exposure area, and scanning mode, generate a target orthogonal signal, the target orthogonal signal is used to control the switching and lighting timing of the laser, the exposure area switching of the sensor, and the synchronous rotation and motion control of the rotating mechanism; according to the target orthogonal signal, control the laser to emit the laser signal according to the set timing, adjust the emission direction of the laser signal through the rotating mechanism, receive the reflected laser signal through the sensor, extract the spot information, and obtain the distance of the target object according to the spot information.

[0089] In the repositioning mode, the ranging system 10 realizes accurate environmental perception and repositioning by activating the second laser, setting multiple parameters, and generating target orthogonal signals. Among them, the second laser focuses on providing horizontal or near-horizontal laser emission, which is suitable for detailed detection and repositioning of the environment. The spot information is used to calculate the distance to the target object and generate corresponding point cloud data to support the repositioning algorithm. In the repositioning mode, the above is implemented based on the principle of triangulation ranging. Like the other modes mentioned above, the ranging in the repositioning mode can also be implemented based on the TOF ranging principle.

[0090] It should be noted that when the above working mode is the relocation mode, the second laser is activated, and the second laser can specifically be a sixth number of second-type lasers. The sixth number can be single or multiple.

[0091] The distance measuring device 200 of this embodiment supports the above three working modes, namely, the normal working mode, the mapping mode and the relocation mode. In these three working modes, two scanning modes are supported, namely, 360-degree scanning and 180-degree reciprocating scanning.

[0092] The 360-degree scanning mode uses a rotating mechanism to detect the environment in an all-round (360-degree) manner, which is suitable for tower installation scenarios. This scanning mode can obtain complete information about the surrounding environment and is suitable for applications that require comprehensive monitoring. The maximum frame rate of a single sensor can be 5090fps, which can quickly respond to environmental changes and can have an angular resolution of 1 degree to ensure the precision of detection. The 360-degree scanning mode can be used in the normal working mode, mapping mode, and repositioning mode. Among them, in the mapping mode, assuming that the exposure frame rate of the sensor is F, the angular resolution is K, and the rotation speed T of the rotating mechanism satisfies: T = F*K / 360 = 5090*1 / 360 = 14.14 revolutions / second, therefore, in the 360-degree scanning mode, the rotating mechanism can rotate at a speed of 14 revolutions per second to ensure sufficient point cloud density. In 360-degree scanning, multiple lasers can adopt a strategy of time-sharing activation of lasers. Each laser emits laser signals in turn at a certain time interval within a predetermined angle range. For example, the laser includes a first laser and a second laser. The first laser and the second laser can be allocated in a 1:1 or other ratio to ensure that multiple laser beams cover the entire field of view. Among them, the 1:1 ratio allocation means that the first laser and the second laser are allocated equal working time within a time period, and the two lasers are lit in turn, and each laser is used evenly in time.

[0093] The 180-degree reciprocating scanning mode uses a rotating mechanism to perform reciprocating scanning within a 180-degree range in front of the ranging device, which is suitable for sunken installation scenarios. This scanning mode mainly focuses on the area in front of the ranging device and is suitable for real-time detection in a dynamic environment. T = F*K / 360 = 5090*1 / 180 = 28.28 laps / second, so the rotating mechanism can rotate at a speed of 28 laps per second to adapt to fast-moving application scenarios. In the 180-degree scanning mode, multiple lasers can adopt a time-sharing activation strategy. Each laser emits laser signals in turn at a certain time interval within a predetermined angle range. For example, the laser includes a first laser and a second laser. The first laser and the second laser can be allocated to work in a ratio of 1:1 or 2:1, wherein the first laser and the second laser are allocated to work in a ratio of 2:1, which means that the first laser and the second laser are allocated different working times within a time period, indicating that the lighting time of the first laser is twice that of the second laser. The 180-degree reciprocating scanning mode can be used in the conventional working mode, the mapping mode, and the repositioning mode.

[0094] 360-degree scanning provides all-round environmental perception and is suitable for comprehensive monitoring in static and dynamic environments, especially in normal working mode and mapping mode. 180-degree reciprocating scanning emphasizes key monitoring of the front area and is suitable for rapid response applications, especially in normal working mode and mapping mode, by flexibly allocating the working status of sensors to improve data collection efficiency. These two scanning modes are combined with three working modes (normal working mode, mapping mode and repositioning mode) to enable the ranging device 200 to flexibly respond to different cleaning task requirements and ensure efficient and accurate navigation and detection in various environments.

[0095] The control module 230 of this embodiment also includes a data processing unit 2302, which is used to send the distance between the distance measuring device 200 and the target object to the host computer 100. The data processing unit 2302 is responsible for uploading the measured distance data to the host computer 100 in the distance measuring system 10. The data processing unit 2302 can receive the laser reflection signal from the distance measuring device 200, perform distance calculation, and obtain the distance to the target object; the processed distance data is uploaded to the host computer 100 in a timely manner. The data processing unit 2302 can also directly obtain the measured distance from the control unit 2301, and then upload the processed distance data to the host computer 100.

[0096] Among them, the principle of the above-mentioned ranging is based on the processing of laser reflection signals, and the distance to the target object is calculated by switching the row where the light spot is located in real time and extracting the center of mass of the light spot. The laser emits a laser signal according to the preset lighting sequence, and the laser signal is irradiated onto the target object; when the laser signal is reflected back to the ranging device, a light spot is formed, and the characteristics of the light spot can be detected by the sensor, and the center of mass of the light spot can be obtained. The distance is calculated according to the triangulation formula, and the formula is: dist = k1 / (cx+k2)+k3, dist is the measured distance, k1, k2, k3 are calibrated parameters, and the specific values ​​are related to the optical structure and sensor characteristics, and cx is the center of mass of the light spot. This ranging principle realizes the accurate measurement of the distance to the target object through laser emission, light spot signal reception and processing, combined with the triangulation formula.

[0097] In this embodiment, the positions of the transceiver module 210, the rotating mechanism 220 and the target object (such as an obstacle) can be set as follows: Figure 5 The rotating mechanism 220 is disposed in front of the transceiver module 210 and maintains a preset distance from the transceiver module 210 . The control module 230 is integrated in the transceiver module 210 .

[0098] See also Figure 6 , is a schematic diagram of the specific location structure of the transceiver module 210, the rotating mechanism 220 and the target object. From left to right, from top to bottom: the rotation angle of the rotating mirror in the rotating mechanism 220 is the same, but the structural forms of the receiving (sensor) and transmitting (laser) are different, including:

[0099] 1. Receiving and transmitting are integrated, the transceiver module is placed vertically, and the receiving end receives vertically;

[0100] 2. The receiving and transmitting are separated, the transceiver module is placed vertically, and the receiving end receives vertically;

[0101] 3. The receiving and transmitting parts are placed vertically, and the receiving end receives horizontally;

[0102] 4. Receiving and transmitting are separated, the transceiver module is placed vertically, and the receiving end receives horizontally;

[0103] 5. Receiving and transmitting are integrated, the transceiver module is placed horizontally, and the receiving end receives horizontally;

[0104] 6. Receiving and transmitting are separated, the transceiver module is placed horizontally, and the receiving end receives horizontally;

[0105] 7. Receiving and transmitting are integrated, the transceiver module is placed horizontally, and the receiving end receives vertically;

[0106] 8. The receiving and transmitting are separated, the transceiver module is placed horizontally, and the receiving end is placed vertically.

[0107] Any of the above structural forms can be selected according to the characteristics of the environment, the characteristics of the target object, etc. For example, according to the characteristics of the measurement environment (such as indoors, outdoors, obstacle distribution, etc.), select the appropriate receiving and transmitting configuration. In addition, for high-precision measurements, it may be necessary to use an integrated receiving and transmitting design to reduce signal loss and interference. In a noisy environment, a separate receiving and transmitting design may be more conducive to improving signal quality. According to the limitations of the installation space and the overall layout of the equipment, select a vertical or horizontal structural form. For example, in a fixed installation environment, it may be preferred to place it vertically to save space.

[0108] Therefore, the structural form of the transceiver module 210 and the rotating mechanism 220 can be reasonably set according to factors such as application scenarios, ranging accuracy requirements, rotation angle of the rotating mechanism, installation method, and compatibility of system integration. This flexible design can improve the adaptability and efficiency of the ranging system 10 in various environments.

[0109] It should be noted that the above embodiment includes a rotating mechanism 220, and the rotating mechanism 220 includes a rotating mirror 2201, which is driven to rotate by a motor drive unit 2202 to cover different distance measurement directions. In some other embodiments, the rotating mechanism 220 may not be included, and the distance measurement device 200 itself rotates to cover different distance measurement directions. This design flexibility allows the system to adapt to different hardware configurations and application requirements.

[0110] The working principle of the ranging system 10 mainly includes:

[0111] First, initialize the system data, including setting the working parameters of the laser 2101 and the sensor 2102. This can be done by sending instructions to the control unit 2301 through the host computer 100, including scanning mode (such as 360° panoramic or 180° reciprocating scanning), laser pitch angle setting (such as for mapping, obstacle avoidance, edge cleaning, etc.), scanning frequency and mirror rotation speed, etc. The control unit 2301 sets the working parameters of the laser 2101 and the sensor 2102 according to the received instructions.

[0112] Next, the laser is lit and time-sharing control is implemented. The purpose of this process is to control the lasers 2101 with different pitch angles to light up according to the set timing to achieve all-round coverage of the environment. Specifically, the control unit 2301 lights up the lasers 2101 in time-sharing according to the set pitch angles (such as elevation angle I, horizontal II, and depression angle III), lighting one laser 2101 at a time, and sending a control signal to synchronously adjust the exposure area of ​​the sensor 2102 and the position of the rotating mechanism 2201. The laser rotates through the rotating mechanism 2201 to cover the target area, forming multi-directional laser emission.

[0113] Next, based on the laser emitted in multiple directions, the sensor 2102 can receive the reflected laser signal and extract the light spot information. Specifically, the laser is reflected by the object and returns, and is imaged on the sensor array (such as CMOS) through an optical component (such as a lens). The control unit 2301 dynamically switches the effective imaging area of ​​the sensor 2102 (such as the light spot positions corresponding to I, II, and III) according to the lighting sequence of the laser 2101. The sensor 2102 records the light spot image, generates a light spot curve, and extracts the horizontal coordinate cx of the center of mass of the light spot.

[0114] The above-mentioned distance measurement principle is converted into the measured distance according to the triangulation formula. Based on this distance measurement principle, the triangulation distance measurement formula is used to calculate the precise distance of the object. It should be noted that the distance measurement principle is not only applicable to triangulation distance measurement, but also to TOF distance measurement. In these two distance measurement methods, the working mode, laser control, scanning method and time-sharing logic are similar. The main difference lies in the way the sensor processes distance data. Specifically, triangulation distance measurement usually uses CMOS chips to process image signals, while TOF distance measurement uses SPAD chips to measure the round-trip time of laser signals. This design choice ensures the consistency of the implementation of the two distance measurement methods, and selects the most suitable sensor according to different working principles.

[0115] Finally, the scanning process and the ranging process are optimized in real time, and high-precision data is output at the same time. The process includes the control unit 2301 adjusting the frequency and pitch angle distribution of the laser 2101 in the transceiver module 210 according to the instructions issued by the host computer 100 or the feedback of the environment, and adjusting the rotation speed of the rotating mirror 2101, etc. It also includes the data processing unit 2302 transmitting data to the host computer 100 through the serial port, I2C or SPI interface, and the data is used for SLAM mapping, obstacle avoidance and other tasks.

[0116] The above initializes the system data to set the operating status of the hardware and software for the subsequent ranging process. The process of lighting and time-sharing control of the laser, as well as receiving the reflected laser signal, is the matching link of input and output. The spot extraction depends on the precise control of the laser and the timing synchronization of the sensor. The accuracy of the distance calculation depends on the quality of the spot extraction and the calibration parameters. Finally, the real-time optimization of the scanning process and the ranging process is the core of the whole system adaptation to ensure that the ranging accuracy is consistent with the task requirements. Therefore, through the above process, the ranging system 10 can realize the accurate measurement of different scene requirements while taking into account performance, cost and power consumption.

[0117] The ranging system provided by the embodiment of the present application can obtain the spot information of the target object more accurately through the collaborative work of the laser, sensor and rotating mechanism, thereby effectively reducing the ranging error caused by multipath interference and improving the accuracy and reliability of ranging. Through the automated working mode selection mechanism, the control parameters are dynamically adjusted according to the current working mode, reducing the need for complex calibration of the sensor, thereby reducing the difficulty of calibration and the cost of man-hours, and improving the efficiency and accuracy of ranging. In addition, the dynamic adjustment of the control parameters enables the method to adapt to the ranging needs under different environments, significantly improving the applicability and flexibility of the ranging device. Due to the collaborative work of the laser, sensor and rotating mechanism, the distance information of the target object can be obtained in real time, thereby meeting the requirements of ranging scenarios with high real-time requirements. The collaborative working method can also reduce the deviation caused by the error of a single component, further improving the accuracy and reliability of ranging. Therefore, the ranging system effectively solves the shortcomings of the traditional ranging method in terms of accuracy, automation and adaptability through the collaborative work of multiple components, automated parameter adjustment and real-time data acquisition, and comprehensively improves the performance and reliability of the ranging device.

[0118] The embodiment of the present application further provides a mobile robot, which includes the above-mentioned distance measuring device 200. The mobile robot may specifically be a sweeping robot, a lawn mower, etc.

[0119] See also Figure 7 , an embodiment of the present application provides a distance measurement method, which can be applied to the above-mentioned distance measurement device, and the method includes:

[0120] S11, obtaining a target operation instruction, where the target operation instruction is used to determine the current working mode of the ranging device;

[0121] S12. According to the working mode, control parameters corresponding to the laser, the sensor and the rotating mechanism are obtained, and according to the control parameters, the laser, the sensor and the rotating mechanism are controlled to work together in the working mode to obtain the distance of the target object.

[0122] It should be noted that the ranging method and the ranging system in the above embodiment are based on the same inventive concept, and have the corresponding functions and beneficial effects of the ranging system. The technical details of the detailed description can refer to the above embodiment.

[0123] See also Figure 8 , Figure 8 30 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 30 may specifically be a control unit in the above embodiment. The electronic device includes one or more processors 31 and a memory 32. The memory 32 is connected to the one or more processors 31, for example, connected to the processor 31 via a bus.

[0124] The processor 31 is configured to support the electronic device to perform the corresponding functions in the method in the above method embodiment. The processor 31 can be a central processing unit (CPU), a network processor (NP), a hardware chip or any combination thereof. The above hardware chip can be an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0125] The memory 32 is used to store program codes, etc. The memory may include a volatile memory (VM), such as a random access memory (RAM); the memory may also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the memory 32 may also include a combination of the above-mentioned types of memory.

[0126] The memory 32 can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the ranging method in the embodiment of the present application. The processor 31 executes various functional applications and data processing of the ranging method by running the non-volatile software programs, instructions and modules stored in the memory 32.

[0127] The one or more modules are stored in the memory 32, and when executed by the one or more processors 31, the ranging method in any of the above method embodiments is executed.

[0128] The electronic device 30 may specifically be a microcontroller unit (MCU) or a microprocessor unit (MPU).

[0129] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0130] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A distance measurement method, characterized in that: Applied to a distance measuring device, the distance measuring device includes a laser, a sensor and a rotating mechanism, and the method includes: Acquire a target operation instruction, wherein the target operation instruction is used to determine a current working mode of the distance measuring device; According to the working mode, control parameters corresponding to the laser, the sensor and the rotating mechanism are obtained, and according to the control parameters, the laser, the sensor and the rotating mechanism are controlled to work together in the working mode to obtain the distance of the target object.

2. The method according to claim 1, characterized in that The target acquisition operation instruction includes: Acquire the environmental feature information corresponding to the distance measuring device through the sensor, and generate a target operation instruction according to the environmental feature information; or Receive instructions sent by the host computer to determine the target operation instructions.

3. The method according to claim 1, characterized in that The step of acquiring control parameters corresponding to the laser, the sensor, and the rotating mechanism according to the working mode, and controlling the laser, the sensor, and the rotating mechanism to work together in the working mode according to the control parameters to obtain the distance of the target object includes: Determining the lighting sequence of the laser and the scanning mode of the rotating mechanism according to the working mode; generating a target signal according to the lighting timing of the laser and the scanning mode of the rotating mechanism; According to the target signal, the laser is controlled to emit the laser signal according to the set timing, the emission direction of the laser signal is adjusted by the rotating mechanism, the reflected laser signal is received by the sensor, and characteristic information of the reflected laser signal is extracted; The distance of the target object is obtained according to the characteristic information of the reflected laser signal.

4. The method according to claim 3, characterized in that: The step of obtaining the distance of the target object according to the characteristic information of the reflected laser signal comprises: Extracting light spot information according to characteristic information of the reflected laser signal, and acquiring the distance of the target object according to the light spot information; or, The time characteristic information is extracted according to the characteristic information of the reflected laser signal, the round-trip propagation time of the laser signal is calculated according to the time characteristic information, and the distance of the target object is obtained according to the round-trip propagation time and the speed of light.

5. The method according to claim 3, characterized in that: The method comprises a plurality of said lasers, wherein the angles between the optical axes of the plurality of said lasers and the vertical plane are different; Determining the lighting timing of the laser and the scanning mode of the rotating mechanism according to the working mode includes: According to the working mode, the category of lasers and the corresponding number of lasers matching the working mode are determined from the plurality of lasers; wherein the categories of the lasers include first-category lasers, second-category lasers and third-category lasers, the first-category lasers are used to detect obstacles greater than a preset height and obtain the height of the obstacles, the second-category lasers are used to emit lasers in a horizontal direction, and the third-category lasers are used to detect obstacles less than a preset height; Based on the determined laser and the operating mode, a lighting sequence of the laser and a scanning mode of the rotating mechanism are determined.

6. The method according to claim 5, characterized in that When the working mode is a normal working mode, the determined lasers include a first number of first-type lasers, a second number of second-type lasers, and a third number of third-type lasers, and the lighting sequence of the lasers and the scanning mode of the rotating mechanism are determined based on the determined lasers and the working mode, including: activating a first number of the first class of lasers, a second number of the second class of lasers, and a third number of the third class of lasers; Setting a lighting timing corresponding to a first number of the first type of lasers, a second number of the second type of lasers, and a third number of the third type of lasers; The scanning mode of the rotating mechanism is set so that the laser signals emitted by the first number of the first type lasers, the second number of the second type lasers, and the third number of the third type lasers respectively cover a preset scanning range.

7. The method according to claim 5, characterized in that When the number of the sensors is multiple or the image plane corresponding to the sensor is larger than a first preset threshold, determining the lighting timing of the laser based on the determined laser and the working mode includes: Acquire an activation strategy for the laser according to the number of the sensors and / or the size of the image plane corresponding to the sensors; wherein the activation strategy includes a strategy of activating the laser in parallel when there are multiple sensors, and a strategy of activating the laser in time-sharing when the image plane of the sensor is larger than a first preset threshold; The determined lighting timings of the lasers are respectively set according to the activation strategies of the lasers.

8. The method according to claim 5, characterized in that The step of determining a lighting sequence of the laser based on the determined laser and the working mode includes: Acquire an activation strategy for the laser according to the number of the sensors and / or the number of independently switchable photosensitive areas of the sensors; wherein the activation strategy includes, when there are multiple sensors or the sensor includes multiple independently switchable photosensitive areas, adopting a strategy of activating the laser in parallel or a strategy of activating the laser in time sharing, and when there is only one sensor and the photosensitive area of ​​the sensor is less than a second preset threshold, adopting a strategy of activating the laser in time sharing; The determined lighting timings of the lasers are respectively set according to the activation strategies of the lasers.

9. The method according to claim 7 or 8, characterized in that: The step of respectively setting the determined lighting timing of the laser according to the activation strategy of the laser comprises: When the strategy of activating the lasers in parallel is adopted, the lighting frequencies of the lasers are respectively set to match the processing capability of the sensor to process multiple signals simultaneously; and the lasers are set to start and enter a working state, and the lighting timing is in a parallel mode; When the strategy of activating the lasers in time-sharing is adopted, the lighting frequencies of the determined lasers are respectively set to match the point cloud data acquisition efficiency; and the determined lasers are lit in sequence according to preset priorities and time intervals so that the working time periods of the lasers do not overlap with each other.

10. The method according to claim 5, characterized in that When the working mode is a mapping mode, the determined lasers include a fourth number of second-type lasers and a fifth number of third-type lasers, and the lighting sequence of the lasers and the scanning mode of the rotating mechanism are determined based on the determined lasers and the working mode, including: activating a fourth number of the second type of lasers and a fifth number of the third type of lasers; According to the requirement of the mapping mode for point cloud density, setting the lighting frequency of the fourth number of the second type of lasers and the fifth number of the third type of lasers, and setting the lighting timing of the fourth number of the second type of lasers and the fifth number of the third type of lasers in combination with the processing capability of the sensor; The scanning mode of the rotating mechanism is set to meet the requirements of angular resolution and point cloud coverage during the mapping process.

11. The method according to claim 10, characterized in that The method further comprises: During the mapping process, based on the current environmental characteristics, the lighting frequency and lighting timing of the laser are adjusted in real time, and the scanning mode of the rotating mechanism is adjusted so that the adjusted control parameters adapt to the current environmental characteristics.

12. The method according to claim 5, characterized in that When the working mode is the repositioning mode, the determined lasers include a sixth number of second-type lasers, and the laser lighting timing and the scanning mode of the rotating mechanism are determined based on the determined lasers and the working mode, including: activating a sixth number of said second type of lasers; Setting a sixth number of lighting frequencies and lighting sequences of the second type lasers; The rotation speed of the rotating mechanism is set within a preset speed range, and the scanning angle of the rotating mechanism is set so that the laser signals emitted by the sixth number of the second-type lasers cover a preset scanning range.

13. The method according to claim 9, characterized in that The scanning mode of the rotating mechanism includes a 360-degree scanning mode and a 180-degree scanning mode, and the method further includes: When the scanning mode corresponding to the rotating mechanism is a 360-degree scanning mode, the rotation speed of the rotating mechanism is a first preset rotation speed, and when the plurality of lasers adopt the strategy of activating the lasers in a time-sharing manner, they are allocated according to a first preset ratio; When the scanning mode corresponding to the rotating mechanism is a 180-degree scanning mode, the rotation speed of the rotating mechanism is a second preset rotation speed, and when the plurality of lasers adopt the strategy of activating the lasers in a time-sharing manner, they are allocated according to a second preset ratio.

14. The method according to claim 7, characterized in that The activation strategy of the laser is obtained according to the number of the sensors and / or the image plane size corresponding to the sensors; wherein the activation strategy includes a strategy of parallel activation of the laser when there are multiple sensors, and a strategy of time-sharing activation of the laser when the image plane of the sensor is larger than a first preset threshold, including: When the sensor includes a first sensor and a second sensor, the first sensor is switched to the first exposure area to collect the laser reflection signal corresponding to the laser signal emitted by the first type of laser, and at the same time, the second sensor is switched to the third exposure area to collect the laser reflection signal corresponding to the laser signal emitted by the third type of laser; the first sensor is also switched to the second exposure area to collect the laser reflection signal corresponding to the laser signal emitted by the second type of laser, and at the same time, the second sensor is switched to the third exposure area to collect the laser reflection signal corresponding to the laser signal emitted by the third type of laser; wherein the first type of laser and the second type of laser emit laser signals alternately in a time-sharing manner, and the third type of laser and the first type of laser or the second type of laser emit laser signals simultaneously in a parallel manner; When the sensor includes a first sensor and a second sensor, the first sensor is switched to the first exposure area to collect a laser reflection signal corresponding to a laser signal emitted by a first type of laser, or the first sensor is switched to the second exposure area to collect a laser reflection signal corresponding to a laser signal emitted by a second type of laser, wherein the first type of laser and the second type of laser alternately emit laser signals in a time-sharing manner; during the process of the first type of laser and the second type of laser alternately emitting laser signals in a time-sharing manner, the second sensor is switched to the third exposure area to collect a laser reflection signal corresponding to a laser signal emitted by a third type of laser; wherein the third type of laser simultaneously emits laser signals in a parallel manner with the first type of laser or the second type of laser; When the sensor includes a first sensor and the image plane size corresponding to the first sensor is greater than a first preset threshold, the first sensor switches to a first exposure area to collect a laser reflection signal corresponding to a laser signal emitted by a first type of laser, the first sensor also switches to the first exposure area to collect a laser reflection signal corresponding to a laser signal emitted by a second type of laser, and the first sensor also switches to a third exposure area to collect a laser reflection signal corresponding to a laser signal emitted by a third type of laser; wherein the first type of laser, the second type of laser, and the third type of laser alternately emit laser signals in a time-sharing manner.

15. A distance measuring device, characterized in that: include: A transceiver module, a rotating mechanism and a control module, wherein the transceiver module includes a laser and a sensor, the rotating mechanism includes a rotating mirror, and the control module includes a control unit; The control unit includes a memory and a processor, the memory is connected to the processor, the processor is used to execute one or more computer programs stored in the memory, and when the processor executes the one or more computer programs, the control unit is used to implement the ranging method according to any one of claims 1 to 14 based on the laser, the sensor and the rotating mechanism.

16. The distance measuring device according to claim 15, characterized in that: The control module further includes a data processing unit, and the rotating mechanism further includes a motor driving unit. The data processing unit is used to send the distance between the distance measuring device and the target object to the host computer; The motor drive unit is used to respond to the control instruction sent by the control unit and adjust the scanning mode of the rotating mechanism so that the rotating mechanism works in coordination under the working mode.

17. The distance measuring device according to claim 15, characterized in that: The rotating mechanism is arranged in front of the transceiver module and maintains a preset distance from the transceiver module. The control module is integrated in the transceiver module. The transceiver module is placed vertically or horizontally. The laser and the sensor are integrated or separately designed. The receiving direction of the sensor includes vertical reception and horizontal reception.

18. The distance measuring device according to claim 15, characterized in that: The optical path corresponding to when the laser emits a laser signal is coaxial with the optical path when the sensor receives a return signal corresponding to the laser signal.

19. A mobile robot, characterized in that: The distance measuring device comprises any one of claims 15 to 18.

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